CN104176456B - Extendable conveyor structure and stacker - Google Patents
Extendable conveyor structure and stacker Download PDFInfo
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- CN104176456B CN104176456B CN201410338954.3A CN201410338954A CN104176456B CN 104176456 B CN104176456 B CN 104176456B CN 201410338954 A CN201410338954 A CN 201410338954A CN 104176456 B CN104176456 B CN 104176456B
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Abstract
The invention discloses a kind of extendable conveyor structure and stacker, extendable conveyor structure comprises multiple conveyor module, the plurality of conveyor module can be arranged with conveying object from back to front along the longitudinal direction relatively movably successively, conveyor module comprises mobile agent and is positioned at the conveyer at this mobile agent top, conveyer is arranged and is raised gradually from back to front before and after top, in adjacent conveyor module, the mobile agent being positioned at rear is formed with the container cavity to open front, when retracted mode, the conveyor module being arranged in front enters described container cavity backward, when stretching out state, the conveyor module being positioned at front departs from container cavity forward.Because the conveyer that can carry out each conveyor module top of stretching is all the settings of rising gradually, the object receiving delivery system of conveyor module can be made to be that object drops to the conveyer of front from the conveyer at rear, with constantly vertical conveying articles, thus the alerting ability of cargo lifting conveying.
Description
Technical field
The present invention relates to flexible conveying and the piling field of object, particularly, relate to the stacker of a kind of extendable conveyor structure and this extendable conveyor structure of use.
Background technology
Along with advancing by leaps and bounds of socioeconomic sustainable development and science and technology, modern logistics, as the integrated service pattern of economical rationality the most in the important component part of modern economy and process of industrialization, are developed rapidly in nationwide and even global range.Stacker is most important lifting Palletizer in automatic stereowarehouse, is the headend equipment that stacks of cargo is put into tiered warehouse facility, and it can put together single material code, is convenient to transport, improves production efficiency.
Along with the progress of science and technology, can realize full-automatic stacker by programming Control, it is mechanical, electrical integrated new high-tech product.In, Low Level Code stack machine low-producing need of production in can meeting.Can organizational systems as required and the number of plies, complete the piling to various products such as pocket, blob of viscose, casings.And make buttress shape closely, neatly by optimized design.But there is following shortcoming in stacker in the market:
1, volume is generally larger.Because tiered warehouse facility is as the important component part of modern logistics systems, it is a kind of high rack warehouse system of many storage layers goods, its outstanding feature is exactly limited space, the usage condition of this just larger with volume stacker defines contradiction, therefore limits the Applicable scope of stacker to a certain extent.
2, the dead angle in operational process is many.The many pilings being carried out goods by manipulator of existing stacker, due to manipulator top be provided with stretching structure, what therefore robot support arm can reach the upper limit is exactly the area of space that this manipulator cannot arrive with upper part, namely runs dead angle.The existence of dead-space volume just greatly reduces the degree of utilization in space, wastes the degree of utilization in space, improves the cost of transport to a certain extent.
3, goods structure for conveying is complicated.Stacker needs to arrange comparatively complicated freight conveyer structure usually goods to be transported to continuously the palletized unit place of stacker, the usual volume of these freight conveyer structures such as belt feeder comparatively large and run inflexible, can not feed goods flexibly.
Therefore, a kind of stacker at least solving above-mentioned a kind of technical matters is provided to have positive effect.
Summary of the invention
An object of the present invention is to provide a kind of extendable conveyor structure, this extendable conveyor structure by the stretching structure of simple and ingenious structure, cargo lifting conveying alerting ability.
Another object of the present invention is to provide a kind of stacker, and this stacker uses extendable conveyor structure provided by the invention.
To achieve these goals, the invention provides a kind of extendable conveyor structure, described extendable conveyor structure comprises multiple conveyor module, the plurality of conveyor module can be arranged with conveying object from back to front along the longitudinal direction relatively movably successively, described conveyor module comprises mobile agent and is positioned at the conveyer at this mobile agent top, described conveyer is arranged and is raised gradually from back to front before and after described top, in adjacent described conveyor module, the described mobile agent being positioned at rear is formed with the container cavity to open front, when retracted mode, the described conveyor module being arranged in front enters described container cavity backward, when stretching out state, the described conveyor module being positioned at front departs from forward described container cavity, the top of described mobile agent raises from back to front gradually, described conveyer is arranged along the upper surface at described top, the lower surface at described top is formed as the roof of described container cavity.
Preferably, described mobile agent has the trapezoidal outline extended on length direction and Width, and this trapezoidal outline is formed as extending trapezoid structure from back to front, and the profile of described container cavity and the outline of described mobile agent adapt.
Preferably, described conveyer comprises belt conveyor, guide and actuator, described belt conveyor raises ground from back to front gradually and arranges, described guide is positioned at these belt conveyor two ends to realize the cycle rotation around this guide of described belt conveyor, and described actuator drives at least one guide to rotate to drive described belt conveyor cycle rotation.
Preferably, described guide is can be rotatably set in the roller on described mobile agent, and described actuator is the motor driving this roller turn.
Preferably, the bottom of the described mobile agent of each described conveyor module is respectively arranged with roller, and adjacent described conveyor module is connected by transmission device.
According to a further aspect in the invention, a kind of stacker is provided, comprise the piling main frame for piling object and the conveying mechanism for this piling main frame conveying object, described conveying mechanism is extendable conveyor structure provided by the invention, and the described conveyor module being positioned at forefront is connected with described piling main frame.
Preferably, described piling main frame comprises mobile matrix and for by the piling part of object piling to assigned address, described piling part is arranged on this movably and moves matrix, and described piling main frame is also limited with the passage moving to described piling part for described object from described extendable conveyor structure, this passage extends along the longitudinal direction.
Preferably, described piling part is formed as the scoop structure that extends along the longitudinal direction.
Preferably, described mobile matrix comprises mobile chassis and is fixed on the portal-framed structure on this mobile chassis, this portal-framed structure comprises the first guide rail along highly extending, and the second guide rail that broad ways extends, described second guide rail can be connected on described first guide rail along described first slide, and wherein said piling part can be connected on described second guide rail along described second slide.
Preferably, described passage comprises the transport section connected with described conveyor module and the opening formed on described mobile matrix, and the front end that described opening is positioned at described transport section is communicated with described piling part to make described transport section.
Preferably, described transport section extends obliquely towards front lower place, and is furnished with multiple rotating rolling body along the longitudinal direction, and the pivot center of the plurality of rolling body is parallel to each other and perpendicular to the bearing of trend of described transport section.
Preferably, described stacker is flexible cargo stacker.
Pass through technique scheme, conveyer due to each conveyor module top is all the settings of rising gradually, the object receiving delivery system of conveyor module can be made to be that object drops to the conveyer of front from the conveyer at rear, thus realize object constantly vertical conveying, and simultaneously, because conveyor module has the top structure risen gradually from back to front, and can be retracted in the container cavity of rear conveyor module, therefore the relative position achieving conveyer moves, make the goods mode of movement of extendable conveyor structure provided by the invention comparatively flexible, especially the stacker working portion conveying object for working in enclosure space is convenient to, simple and ingenious structure is practical.
Other features and advantages of the present invention are described in detail in detailed description of the invention part subsequently.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for specification sheets, is used from explanation the present invention, but is not construed as limiting the invention with detailed description of the invention one below.In the accompanying drawings:
Fig. 1 is the side-looking structural representation of the stacker that the preferred embodiment for the present invention provides;
Fig. 2 is the plan structure schematic diagram of the conveyor module that the preferred embodiment for the present invention provides;
Fig. 3 is the perspective view of the portal-framed structure that the preferred embodiment for the present invention provides.
Description of reference numerals
1 conveyor module 2 piling main frame
11 mobile agents 21 move matrix
12 conveyer 22 piling parts
14 roller 23 sections of transport
15 pantograph 24 openings
121 belt conveyor 211 mobile chassis
122 guide 212 portal-framed structures
123 actuator 231 rolling bodys
2121 first guide rail 2,122 second guide rails
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, detailed description of the invention described herein, only for instruction and explanation of the present invention, is not limited to the present invention.
In the present invention, when not doing contrary explanation, the noun of locality of use such as " upper and lower " is that situation about normally working at extendable conveyor structure provided by the invention and stacker is undefined." forward and backward " is then define for benchmark with the mode of movement of goods towards the direction of stacker.In addition, " short transverse " of stacker is aforesaid above-below direction, and " length direction " is above-mentioned fore-and-aft direction, then " Width " is simultaneously perpendicular to " short transverse and length direction ".These nouns of locality, only for illustration of the present invention, are not limited to the present invention.
As shown in Figure 1 to Figure 3, the invention provides a kind of stacker, in particular for carrying the flexible cargo stacker of flexible cargo, " flexible cargo " described herein refers to the various bulk materials packed by flexible bags, such as packed rice and flour etc.This stacker is roughly divided into two parts, is in particular the piling main frame 2 for piling object and the conveying mechanism for this piling main frame 2 conveying object, thus realizes the piling carrying out the objects such as goods in the enclosure spaces such as such as warehouse.Wherein in order to realize the flexible feed to piling main frame 2, the conveying mechanism that the present invention adopts is extendable conveyor structure, this extendable conveyor structure comprises multiple conveyor module 1, wherein each conveyor module 1 can carry out goods conveying separately, and the plurality of conveyor module 1 can be arranged with conveying object from back to front along the longitudinal direction relatively movably successively, and the conveyor module 1 being positioned at forefront is connected with piling main frame 2.Like this by the front and back relay of multiple conveyor module 1, the continuous supply of material to piling main frame 2 can be realized.
Extendable conveyor structure in the present invention and piling main frame 2 is introduced in detail below in conjunction with accompanying drawing; it should be noted that extendable conveyor structure provided by the invention not only may be used for being used for other fields needing to carry out flexible conveying object in stacker, the distortion for this application all drops in protection scope of the present invention.
As depicted in figs. 1 and 2, conveyor module 1 provided by the invention comprises mobile agent 11 and is positioned at the conveyer 12 at this mobile agent 11 top, conveyer 12 is arranged and is raised gradually from back to front before and after top, and wherein conveyer 12 can select belt, chain converyer etc. can realize all kinds of conveyers of object conveying.In adjacent conveyor module 1, the mobile agent 11 being positioned at rear is formed with the container cavity to open front, and when retracted mode, the conveyor module 1 being arranged in front enters container cavity backward, when stretching out state, the conveyor module 1 being positioned at front departs from container cavity forward.
Therefore, because the conveyer 12 at each conveyor module 1 top is all the settings of rising gradually, the object receiving delivery system of conveyor module 1 can be made to be that object drops to front conveyer 12 from the conveyer 12 at rear, thus to realize object constantly vertical conveying.And simultaneously, because conveyor module 1 has the top structure risen gradually from back to front brought by the arrangement of conveyer 12, and the conveyor module 1 being arranged in front can be retracted into the container cavity of rear conveyor module 1, therefore, achieve the movement of the relative position of conveyer 12, make the goods mode of movement of extendable conveyor structure provided by the invention comparatively flexible, be especially convenient to piling main frame 2 conveying object for working in enclosure space, simple and ingenious structure is practical.
In a preferred embodiment of the invention, more dexterously, the top of mobile agent 11 raises from back to front gradually, and conveyer 12 is arranged along the upper surface at top, and the lower surface at top is formed as the roof of container cavity.Namely, the entirety of mobile agent 11 is at least formed as wedge structure on top structure, and the container cavity of its inside is also formed as wedge structure adaptively with profile, thus make the conveyor module 1 being arranged in front can embed the container cavity of the conveyor module 1 being positioned at rear in a wedge shaped pattern.Like this, the structure of each conveyor module 1 can be identical with size, and be all formed as the little structure in large rear end, front end, shrinks to facilitate the mutually nested of adjacent conveyor module 1.
As shown in Figure 2, preferably, have the trapezoidal outline extended on length direction and Width, this trapezoidal outline is formed as extending trapezoid structure from back to front, and the outline of the profile of container cavity and mobile agent 11 adapts.Said trapezoid refers to that upper base is less than go to the bottom trapezoidal herein.Like this, the not only end face of mobile agent 11, two side is also formed as the wedge structure tilted, namely, on top and two sidepieces, mobile agent 11 and formation increase all gradually with the container cavity in it, thus convenient mobile module 1 retraction being arranged in front is positioned at the container cavity in front, mutually flexible to realize.The structure of this mobile agent 11 can be similar to the hand barrow that can nest together conventional in supermarket, and integral structure is simple, easily manufactured practical.In other embodiments; the container cavity of mobile agent 11 also can not with profile adaptive landscape wedgewise structure; it can be processed as separately the structure can held front conveyor module 1 and enter, and also should drop in protection scope of the present invention for this type of change.
In order to ensure that the conveying of goods is stablized, the bearing of trend of conveyer 12 and the angle of horizontal direction should not be excessive, and wherein can be preferably 10 °-15 °, be more preferably 12 °.The problem that goods departs from from conveyer 12 can not occur like this, and this angle can be determined according to the friction force relation of goods and conveyer 12, all drops in protection scope of the present invention for various distortion.
As shown in Figure 1, conveniently complete object conveying, conveyer 12 is preferably belt conveyer, namely belt conveyor 121, guide 122 and actuator 123 is comprised, the belt conveyor 121 of such as belt raises ground from back to front gradually and arranges, guide 122 is positioned at these belt conveyor 121 two ends to realize the cycle rotation around this guide 122 of belt conveyor 121, therefore can be adjusted the inclination angle of belt conveyor 121 by the height of adjustment two ends guide 122.Wherein, actuator 123 drives at least one guide 122 to rotate to drive belt conveyor 121 cycle rotation.The mode that wherein guide 122 drives belt conveyor 121 to move can be realized by the friction force of this guide 122 and belt conveyor 121, can arrange dentation engaging structure and realize, do not limit this present invention on guide 122 and belt conveyor 121.In addition; the guide 122 having actuator 123 to drive can front guide also can be also rear guide; or two equal configuration driven parts 123 of guide also drive rotating in same direction by actuator 123; as long as can drive belt conveyor 121 cycle rotation, various arrangement all drops in protection scope of the present invention.
More specifically, guide 122 for can be rotatably set in the roller on mobile agent 11, such as, is set in the hollow roller in rotating shaft, and actuator 123 is the motor driving this roller turn.When ensureing power, this motor is preferably miniature motor and installs to facilitate and make the simple for structure of conveyor module 1.
Get back in the stretch mode of extendable conveyor structure provided by the invention, wherein multiple conveyor module 1 can adopt the mode of sequential telescopic, synchronization telescope and independent telescope to carry out, during employing independent telescope, each conveyor module 1 is configured with independent travel driving unit, and sequential telescopic and synchronization telescope are then realized by respective telescoping mechanism.In a preferred embodiment of the invention, the bottom of the mobile agent 11 of each conveyor module 1 is respectively arranged with roller 14, and adjacent conveyor module 1 is connected by transmission device 15, namely, only travel driving unit need be set in forefront, such as driven by piling main frame 2 pairs of extendable conveyor structures, wherein preferably, transmission device 15 can select pantograph.Flexible to make multiple conveyor module 1 realize.Except pantograph, can also adopt other telescoping mechanisms such as chain and sprocket wheel conventional in flexible field, the mode such as chute and slide rail, the various stretch modes can expected for those skilled in the art all should drop in protection scope of the present invention.
Above describe extendable conveyor structure provided by the invention, introduce piling main frame 2 provided by the invention below in conjunction with Fig. 1 and Fig. 3.Wherein piling main frame 2 comprises mobile matrix 21 and for by the piling part 22 of object piling to assigned address, piling part 22 is arranged on this movably and moves matrix 21, wherein moves matrix 21 and can have independently hoofing part mechanism, mobile to realize.Transfer on piling part 22 in order to realize goods from extendable conveyor structure, wherein piling main frame 2 is also limited with the passage moving to piling part 22 for object from extendable conveyor structure, this passage extends along the longitudinal direction.And in a preferred embodiment of the invention, piling part 22 is formed as the scoop structure extended along the longitudinal direction, the mode of operation of this scoop structure is similar to the pallet fork of fork truck, goods can be transferred to after assigned address is placed and withdraw from, thus realize the piling of goods.
In order to the piling without dead angle can be carried out in enclosure space, piling main frame 2 provided by the invention can carry out the same position place on fore-and-aft direction, to goods carry out along short transverse and width mode without dead angle piling, and coordinate the movement in the longitudinal direction of extendable conveyor structure, stacker provided by the invention can the enclosure space such as Implementation repository without dead angle piling.Particularly, the portal-framed structure 212 that mobile matrix 21 comprises mobile chassis 211 and is fixed on this mobile chassis 211, this portal-framed structure 212 comprises the first guide rail 2121 along highly extending, and the second guide rail 2122 that broad ways extends, second guide rail 2122 can be slidably connected on the first guide rail 2121 along the first guide rail 2121, particularly, first guide rail 2121 is two and is formed as two doorframes of portal-framed structure 212, second guide rail 2122 between these two the first guide rails 2121, to make Stability Analysis of Structures.Wherein piling part 22 can be slidably connected on the second guide rail 2122 along the second guide rail 2122.In other embodiments, the first guide rail 2121 also can not be formed as portal-framed structure 212, as long as can realize the guiding to the second guide rail 2122, other various modes of texturing all drop in protection scope of the present invention.
Like this, at work when needs piling part 22 moves in the height direction, only the second guide rail 2122 need be driven to move along the first guide rail 2121, and when needs piling part 22 moves in the direction of the width, then only piling part 22 need be driven to move along the second guide rail 2122.Such piling part 22 can complete the goods piling without dead angle in the plane at portal-framed structure 212 place.Can be wherein the fit system of chute and slide rail along the structure of respective track movement, and be realized by transmission devices such as chains.Distortion for the mobile link relation between the first guide rail 2121, second guide rail 2122 and piling part 22 all drops in protection scope of the present invention.
As shown in Figure 1, be transported on piling part 22 to realize goods, above-mentioned passage comprises the transport section 23 connected with conveyor module 1 and the opening 24 formed on mobile matrix 21, and the front end that opening 24 is positioned at transport section 23 is communicated with piling part 22 to make transport section 23.Such goods can enter piling part 22 by this opening 24 after the transport by transport section 23.Particularly, piling part 22 can be positioned at the below of opening 24 at this moment, and such goods can dropped on piling part 22 by deadweight through after this opening 24.In a preferred embodiment of the invention, opening 24 can be formed by the space above the second guide rail 2122 in portal-framed structure 212, in other embodiments, also on pedestal, can process opening 24 in relevant position.In addition, in order to simplified structure, preferably, transport section 23 extends obliquely towards front lower place, and is furnished with multiple rotating rolling body 231 along the longitudinal direction, and the pivot center of the plurality of rolling body 231 is parallel to each other and perpendicular to the bearing of trend of transport section 23.Like this, the goods entering transport section 23, and can be fallen on piling part 22 by opening 24 by this transport section 23 under the assisting of rolling body 231 by deadweight and inertia.Then by the movement of piling part 22 by piling to assigned address.Wherein rolling body 231 can be formed as the hollow roller that is freely set on roller bearing, thus complementary goods is by downward-sloping transport section 23.Wherein transport section 23 and can also be provided as independently conveyer in other embodiments, also should drop in protection scope of the present invention for this mode of texturing.
To sum up, employ extendable conveyor structure provided by the invention stacker can in the longitudinal direction, free motion in short transverse and width mode, realize at enclosure spaces such as warehouses without dead angle palletizing operation.And simple and ingenious structure own, volume and flexible working mode changeable, and can automatically complete piling to goods by programming Control piling part 22.Therefore there is high practicality and promotional value.
Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition, each concrete technical characteristic described in above-mentioned detailed description of the invention, in reconcilable situation, can be combined by any suitable mode, in order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible array mode.
In addition, also can carry out combination in any between various different embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (12)
1. an extendable conveyor structure, it is characterized in that, described extendable conveyor structure comprises multiple conveyor module (1), the plurality of conveyor module (1) can be arranged with conveying object from back to front along the longitudinal direction relatively movably successively, described conveyor module (1) comprises mobile agent (11) and is positioned at the conveyer (12) at this mobile agent (11) top, described conveyer (12) is arranged and is raised gradually from back to front before and after described top, in adjacent described conveyor module (1), the described mobile agent (11) being positioned at rear is formed with the container cavity to open front, when retracted mode, the described conveyor module (1) being arranged in front enters described container cavity backward, when stretching out state, the described conveyor module (1) being positioned at front departs from forward described container cavity, the top of described mobile agent (11) raises from back to front gradually, described conveyer (12) is arranged along the upper surface at described top, the lower surface at described top is formed as the roof of described container cavity.
2. extendable conveyor structure according to claim 1, it is characterized in that, described mobile agent (11) has the trapezoidal outline extended on length direction and Width, this trapezoidal outline is formed as the trapezoid structure extended from back to front, and the profile of described container cavity and the outline of described mobile agent (11) adapt.
3. according to the extendable conveyor structure described in claim 1 or 2, it is characterized in that, described conveyer (12) comprises belt conveyor (121), guide (122) and actuator (123), described belt conveyor (121) raises ground from back to front gradually and arranges, described guide (122) is positioned at this belt conveyor (121) two ends to realize the cycle rotation around this guide (122) of described belt conveyor (121), described actuator (123) drives at least one guide (122) to rotate to drive described belt conveyor (121) cycle rotation.
4. extendable conveyor structure according to claim 3, it is characterized in that, described guide (122) is for can be rotatably set in the roller on described mobile agent (11), and described actuator (123) is the motor driving this roller turn.
5. extendable conveyor structure according to claim 1, it is characterized in that, the bottom of the described mobile agent (11) of each described conveyor module (1) is respectively arranged with roller (14), and adjacent described conveyor module (1) is connected by transmission device (15).
6. a stacker, comprise the piling main frame (2) for piling object and the conveying mechanism for this piling main frame (2) conveying object, it is characterized in that, described conveying mechanism is for according to the extendable conveyor structure in claim 1-5 described in any one, and the described conveyor module (1) being positioned at forefront is connected with described piling main frame (2).
7. stacker according to claim 6, it is characterized in that, described piling main frame (2) comprises mobile matrix (21) and for by the piling part (22) of object piling to assigned address, described piling part (22) is arranged on this movably and moves matrix (21), and described piling main frame (2) is also limited with the passage moving to described piling part (22) for described object from described extendable conveyor structure, this passage extends along the longitudinal direction.
8. stacker according to claim 7, is characterized in that, described piling part (22) is formed as the scoop structure extended along the longitudinal direction.
9. stacker according to claim 7, it is characterized in that, described mobile matrix (21) comprises mobile chassis (211) and is fixed on the portal-framed structure (212) on this mobile chassis (211), this portal-framed structure (212) comprises the first guide rail (2121) along highly extending, and the second guide rail (2122) that broad ways extends, described second guide rail (2122) can be slidably connected on described first guide rail (2121) along described first guide rail (2121), wherein said piling part (22) can be slidably connected on described second guide rail (2122) along described second guide rail (2122).
10. according to the stacker in claim 7-9 described in any one, it is characterized in that, described passage comprises the transport section (23) connected with described conveyor module (1) and the opening (24) formed on described mobile matrix (21), and the front end that described opening (24) is positioned at described transport section (23) is communicated with described piling part (22) to make described transport section (23).
11. stackers according to claim 10, it is characterized in that, described transport section (23) extends obliquely towards front lower place, and be furnished with multiple rotating rolling body (231) along the longitudinal direction, the pivot center of the plurality of rolling body (231) is parallel to each other and perpendicular to the bearing of trend of described transport section (23).
12. stackers according to claim 6, its feature is being, described stacker is flexible cargo stacker.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410338954.3A CN104176456B (en) | 2014-07-16 | 2014-07-16 | Extendable conveyor structure and stacker |
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| CN201410338954.3A CN104176456B (en) | 2014-07-16 | 2014-07-16 | Extendable conveyor structure and stacker |
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| CN105855101B (en) * | 2016-05-21 | 2018-03-20 | 辽宁金硕钢结构工程有限公司 | C-type steel spray painting, dry, stacking all-in-one |
| CN107963470B (en) * | 2017-12-27 | 2023-12-22 | 大连哈高科技有限公司 | Automatic goods stacking device |
| CN109110424B (en) * | 2018-07-18 | 2020-06-19 | 芜湖固高自动化技术有限公司 | Up-down rotating hinge structure |
| CN109051831B (en) * | 2018-07-18 | 2020-09-18 | 芜湖固高自动化技术有限公司 | Cement pile up neatly handling system |
| CN109081043B (en) * | 2018-09-27 | 2021-03-26 | 徐成晓 | Alternate ascending material conveying mechanism |
| CN110217533B (en) * | 2019-07-16 | 2023-08-25 | 贵阳普天物流技术有限公司 | Intelligent stacker |
| CN113895898B (en) * | 2021-10-08 | 2023-07-18 | 巢湖学院 | Micro-transport unit for flexible transport system and flexible transport system using the same |
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| CN104176456A (en) | 2014-12-03 |
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